JP4747184B2 - Electric motor - Google Patents

Description

  The present invention relates to an electric motor that has a plurality of movers or stators, converts supplied electric power into power, and outputs the power from the movers.

  As this type of conventional electric motor, for example, the one disclosed in Patent Document 1 is known. This electric motor is a so-called rotating machine, and includes a first rotor and a second rotor connected to a first rotating shaft and a second rotating shaft, respectively, and a single stator. The first and second rotating shafts are arranged concentrically with each other, and the first rotor, the second rotor, and the stator are arranged in this order from the inside in the radial direction of the first rotating shaft.

  The first rotor has a plurality of first permanent magnets and second permanent magnets, each of which is aligned in the circumferential direction, and the first and second permanent magnets are aligned in parallel with each other in the axial direction of the first rotor. It is out. The stator is configured to generate a first rotating magnetic field and a second rotating magnetic field that rotate in the circumferential direction by the supply of electric power, and the first rotating magnetic field is a portion of the first rotor on the first permanent magnet side. The second rotating magnetic field is generated between the first rotor and the second permanent magnet side portion of the first rotor. The second rotor has a plurality of first cores and second cores that are arranged in the circumferential direction. The first and second cores are made of a soft magnetic material, the first core is disposed between the first permanent magnet side portion of the first rotor and the stator, and the second core is The first rotor is disposed between the second permanent magnet side portion and the stator. The magnetic poles of the first and second permanent magnets, the magnetic poles of the first and second rotating magnetic fields, and the numbers of the first and second cores are set to be the same.

  In the electric motor having the above-described configuration, the first and second rotating magnetic fields and the first and second permanent magnets generate the first and second rotating magnetic fields as the first and second rotating magnetic fields are generated by supplying power to the stator. When the first and second cores are magnetized, magnetic field lines are generated between these elements. In addition, the first and second rotors are driven by the action of the magnetic force of the magnetic field lines, and as a result, power is output from the first and second rotating shafts.

  In the above-described conventional electric motor, in order to appropriately apply the magnetic force due to the magnetic field lines in order to convert the electric power supplied to the stator into motive power and output it from the first rotating shaft and the second rotating shaft, In addition to the first soft magnetic body row made up of a plurality of first cores, the second soft magnetic body row made up of a plurality of second cores is indispensable, avoiding an increase in the size of the motor and an increase in manufacturing costs. I can't. In addition, because of the configuration of the electric motor, the difference between the rotation speed of the first and second rotating magnetic fields and the rotation speed of the second rotor is the same as the difference between the rotation speed of the second rotor and the rotation speed of the first rotor. Therefore, the degree of freedom of design is low.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an electric motor that can reduce the size and the manufacturing cost and can increase the degree of design freedom. And

JP 2008-67592 A

  In order to achieve the above object, the electric motors 1 and 31 according to claim 1 are configured by a plurality of predetermined magnetic poles (permanent magnets 4a and 34a) arranged in a predetermined direction, and two adjacent magnetic poles have different polarities. And a plurality of armatures (iron core 3a, U-phase) arranged in a predetermined direction, and a first structure (first rotor 4, first rotating shaft 6, second stator 34) having a magnetic pole array arranged to have To W-phase coils 3c to 3e, iron core 33a, U-phase to W-phase coils 33c to 33e), and arranged so as to face the magnetic pole row. And a second structure (stator 3, first stator 33) having an armature array that generates a moving magnetic field that moves in a predetermined direction between the plurality of predetermined armature magnetic poles A plurality of predetermined soft lines arranged in a predetermined direction across The third structure (second rotor 5, second rotating shaft 7) having a soft magnetic body row, which is composed of a sex body (core 5 a, core 35 b) and is disposed so as to be positioned between the magnetic pole row and the armature row. , And a ratio of the number of armature magnetic poles and the number of magnetic poles to the number of soft magnetic bodies in a predetermined section along a predetermined direction is 1: m: (1 + m) / 2 (m ≠ 1.0).

  According to this electric motor, the soft magnetic material rows of the third structure are arranged so as to be positioned between the magnetic pole rows of the first structure and the armature rows of the second structure facing each other. A plurality of magnetic poles, armatures, and soft magnetic bodies that respectively constitute the magnetic pole array, the armature array, and the soft magnetic body array are arranged in a predetermined direction. A plurality of armature magnetic poles are generated with the supply of power to the armature array, and a moving magnetic field generated by these armature magnetic poles is generated between the armature magnetic pole array and moves in a predetermined direction. Furthermore, each two adjacent magnetic poles have different polarities, and there is a gap between each two adjacent soft magnetic bodies. As described above, since the moving magnetic field is generated by the plurality of armature magnetic poles and the soft magnetic body row is arranged between the magnetic pole row and the armature row, the soft magnetic body is separated by the armature magnetic pole and the magnetic pole. Magnetized. Due to this and the gap between each two adjacent soft magnetic bodies as described above, magnetic lines of force connecting the magnetic pole, the soft magnetic body, and the armature magnetic pole are generated. Moreover, the electric power supplied to the armature is converted into power by the action of the magnetic force generated by the magnetic lines of force, and is output from the first structure, the second structure, and the third structure.

In this case, for example, when the electric motor of the present invention is configured under the following conditions (a) and (b), the relationship between the moving magnetic field and the speed between the first and third structures and the first to first The torque relationship between the three structures is expressed as follows. An equivalent circuit corresponding to the electric motor is shown as in FIG.
(A) The motor is a rotating machine, and the armature has a U-phase, V-phase, and W-phase three-phase coil. (B) Two armature magnetic poles and four magnetic poles, that is, N poles of the armature magnetic pole And the number of pole pairs with one set of S poles is 1, the number of pole pairs with N poles and S poles of a magnetic pole as one set is 2, and there are three soft magnetic bodies. “Pole pair” used in writing refers to a set of N and S poles.

ここで、ψｆは磁極の磁束の最大値、θ１およびθ２は、Ｕ相コイルに対する磁極の回転角度位置および軟磁性体の回転角度位置である。また、この場合、電機子磁極の極対数に対する磁極の極対数の比が値２．０であるため、磁極の磁束が移動磁界に対して２倍の周期で回転（変化）するので、上記の式（１）では、そのことを表すために、（θ２−θ１）に値２．０が乗算されている。 In this case, the magnetic flux Ψk1 of the magnetic pole passing through the first soft magnetic body among the soft magnetic bodies is expressed by the following formula (1).

Here, ψf is the maximum value of the magnetic flux of the magnetic pole, and θ1 and θ2 are the rotation angle position of the magnetic pole and the rotation angle position of the soft magnetic material with respect to the U-phase coil. In this case, since the ratio of the number of pole pairs of the magnetic poles to the number of pole pairs of the armature poles is 2.0, the magnetic flux of the poles rotates (changes) with a period twice that of the moving magnetic field. In equation (1), to express this, (θ2−θ1) is multiplied by the value 2.0.

Therefore, the magnetic flux Ψu1 of the magnetic pole passing through the U-phase coil via the first soft magnetic body is expressed by the following equation (2) obtained by multiplying equation (1) by cos θ2.

電機子に対する第２軟磁性体の回転角度位置が、第１軟磁性体に対して２π／３だけ進んでいるため、上記の式（３）では、そのことを表すために、θ２に２π／３が加算されている。 Similarly, the magnetic flux Ψk2 of the magnetic pole passing through the second soft magnetic body of the soft magnetic bodies is expressed by the following formula (3).

Since the rotational angle position of the second soft magnetic body with respect to the armature is advanced by 2π / 3 with respect to the first soft magnetic body, in the above equation (3), in order to express that, 2π / 3 is added.

Therefore, the magnetic flux Ψu2 of the magnetic pole passing through the U-phase coil via the second soft magnetic body is expressed by the following equation (4) obtained by multiplying equation (3) by cos (θ2 + 2π / 3). .

Similarly, the magnetic flux Ψu3 of the magnetic pole passing through the U-phase coil via the third soft magnetic body of the soft magnetic bodies is expressed by the following equation (5).

In the electric motor as shown in FIG. 19, the magnetic flux Ψu of the magnetic poles passing through the U-phase coil via the soft magnetic material is the magnetic flux Ψu1 to Ψu3 expressed by the above equations (2), (4), and (5). Since it becomes what was added, it is represented by following Formula (6).

ここで、ａ、ｂおよびｃはそれぞれ、磁極の極対数、軟磁性体の数および電機子磁極の極対数である。
また、この式（７）を、三角関数の和と積の公式に基づいて変形すると、次式（８）が得られる。

Further, by generalizing this equation (6), the magnetic flux Ψu of the magnetic pole passing through the U-phase coil via the soft magnetic material is expressed by the following equation (7).

Here, a, b, and c are the number of pole pairs of the magnetic poles, the number of soft magnetic bodies, and the number of pole pairs of the armature magnetic poles, respectively.
Further, when this equation (7) is transformed based on the formula of the sum and product of trigonometric functions, the following equation (8) is obtained.

この式（９）を三角関数の加法定理に基づいて整理すると、次式（１０）が得られる。

In this equation (8), when b = a + c and rearranging based on cos (θ + 2π) = cos θ, the following equation (9) is obtained.

When this equation (9) is arranged based on the addition theorem of trigonometric functions, the following equation (10) is obtained.

When the second term on the right side of the equation (10) is arranged based on the sum of the series and Euler's formula on condition that a−c ≠ 0, the value becomes 0 as shown in the following equation (11).

Also, the third term on the right side of the above equation (10) can be reduced to a value of 0 as shown in the following equation (12) when arranged based on the sum of the series and Euler's formula on condition that a−c ≠ 0. Become.

また、この式（１３）において、ａ／ｃ＝αとすると、次式（１４）が得られる。

As described above, when a−c ≠ 0, the magnetic flux Ψu of the magnetic pole passing through the U-phase coil via the soft magnetic material is expressed by the following equation (13).

Further, in this equation (13), when a / c = α, the following equation (14) is obtained.

ここで、θｅ２は、Ｕ相コイルに対する軟磁性体の回転角度位置θ２に電機子磁極の極対数ｃを乗算していることから明らかなように、Ｕ相コイルに対する軟磁性体の電気角度位置を表す。また、θｅ１は、Ｕ相コイルに対する磁極の回転角度位置θ１に電機子磁極の極対数ｃを乗算していることから明らかなように、Ｕ相コイルに対する磁極の電気角度位置を表す。 Further, in this equation (14), when c · θ2 = θe2 and c · θ1 = θe1, the following equation (15) is obtained.

Here, θe2 represents the electrical angular position of the soft magnetic material with respect to the U-phase coil, as is apparent from multiplying the rotation angle position θ2 of the soft magnetic material with respect to the U-phase coil by the pole pair number c of the armature magnetic pole. To express. Further, θe1 represents the electrical angle position of the magnetic pole with respect to the U-phase coil, as is apparent from the fact that the rotation angle position θ1 of the magnetic pole with respect to the U-phase coil is multiplied by the pole pair number c of the armature magnetic pole.

Similarly, the magnetic flux Ψv of the magnetic pole passing through the V-phase coil through the soft magnetic material is advanced by the electrical angle 2π / 3 with respect to the U-phase coil by the electrical angle position of the V-phase coil. 16). Further, the magnetic flux Ψw of the magnetic pole passing through the W-phase coil via the soft magnetic material is delayed by an electrical angle of 2π / 3 with respect to the U-phase coil from the electrical angle position of the W-phase coil. ).

ここで、ωｅ１は、θｅ１の時間微分値、すなわち、第２構造体に対する第１構造体の角速度を電気角速度に換算した値であり、ωｅ２は、θｅ２の時間微分値、すなわち、第２構造体に対する第３構造体の角速度を電気角速度に換算した値である。 Further, when the magnetic fluxes Ψu to Ψw represented by the above expressions (15) to (17) are differentiated with respect to time, the following expressions (18) to (20) are obtained, respectively.

Here, ωe1 is a time differential value of θe1, that is, a value obtained by converting an angular velocity of the first structure relative to the second structure into an electrical angular velocity, and ωe2 is a time differential value of θe2, that is, the second structure. Is a value obtained by converting the angular velocity of the third structure to the electrical angular velocity.

  Furthermore, the magnetic flux directly passing through the U-phase to W-phase coils without using a soft magnetic material is extremely small, and its influence can be ignored. Therefore, the time differential values dΨu / dt to dΨw / dt of the magnetic fluxes Ψu to Ψw (formulas (18) to (20)) of the magnetic poles passing through the U-phase to W-phase coils via the soft magnetic material are Respective counter electromotive voltages (inductive electromotive voltages) generated in the U-phase to W-phase coils as the magnetic poles and the soft magnetic material rotate (move) with respect to the child row are shown.

ここで、Ｉは、Ｕ相〜Ｗ相のコイルを流れる電流の振幅（最大値）である。 From this, the currents Iu, Iv, and Iw flowing through the U-phase, V-phase, and W-phase coils are expressed by the following equations (21), (22), and (23), respectively.

Here, I is the amplitude (maximum value) of the current flowing through the U-phase to W-phase coils.

From these equations (21) to (23), the electric angle position θmf of the vector of the moving magnetic field (rotating magnetic field) with respect to the U-phase coil is expressed by the following equation (24), and the moving magnetic field with respect to the U-phase coil: The electrical angular velocity ωmf is expressed by the following equation (25).

この式（２６）に式（１８）〜（２３）を代入し、整理すると、次式（２７）が得られる。

Further, when the armature train is configured to be immovable together with the second structure, currents Iu to Iw flow through the U-phase to W-phase coils, respectively, and are output to the first and third structures. The mechanical output (power) W is expressed by the following equation (26) excluding the reluctance component.

By substituting and rearranging the equations (18) to (23) for this equation (26), the following equation (27) is obtained.

これらの式（２７）および（２８）から明らかなように、第１および第２のトルクＴ１，Ｔ２は、次式（２９）および（３０）でそれぞれ表される。

Furthermore, this mechanical output W, torque (hereinafter referred to as “first torque”) T1 transmitted to the first structure via the magnetic pole, and torque (hereinafter referred to as “first torque”) transmitted to the third structure via the soft magnetic material ( The relationship between T2 (hereinafter referred to as “second torque”), the electrical angular velocity ωe1 of the first structure, and the electrical angular velocity ωe2 of the third structure is expressed by the following equation (28).

As is clear from these equations (27) and (28), the first and second torques T1 and T2 are expressed by the following equations (29) and (30), respectively.

さらに、これらの式（２９）〜（３１）より、次式（３２）が得られる。

この式（３２）で表されるトルクの関係、および前記式（２５）で表される電気角速度の関係は、遊星歯車装置のサンギヤ、リングギヤおよびキャリアにおける回転速度およびトルクの関係とまったく同じである。また、このような電気角速度の関係およびトルクの関係は、上述した第２構造体を移動不能にした場合だけに限らず、あらゆる第１〜第３の構造体の移動の可否の条件において成立する。例えば、第２構造体を移動不能に構成せずに、第２構造体に動力を入力した状態で電力を供給した場合にも成立し、第２構造体に加え、第１または第３の構造体を移動不能に構成した場合や、第１または第３の構造体に動力を入力した状態で電機子列に電力を供給した場合にも成立する。また、第２構造体を移動可能に構成するとともに、第１および／または第３の構造体を移動不能に構成した場合や、第１および／または第３の構造体に動力を入力した状態で電力を供給した場合にも成立する。 Further, assuming that the electric power supplied to the armature train and the torque equivalent to the electric angular velocity ωmf of the moving magnetic field are the driving equivalent torque Te, the power supplied to the armature train and the mechanical output W are equal to each other (however, the loss And the equivalent driving torque Te is expressed by the following equation (31).

Furthermore, from these formulas (29) to (31), the following formula (32) is obtained.

The relationship between the torque expressed by the equation (32) and the relationship between the electrical angular velocities expressed by the equation (25) are exactly the same as the relationship between the rotational speed and torque in the sun gear, ring gear, and carrier of the planetary gear device. . Moreover, the relationship between the electrical angular velocity and the torque is not limited to the case where the second structure described above is made immovable, but is established under any conditions regarding whether the first to third structures can be moved. . For example, it is also established when electric power is supplied in a state where power is input to the second structure without configuring the second structure to be immovable. In addition to the second structure, the first or third structure This is also true when the body is configured to be immovable or when power is supplied to the armature train in a state where power is input to the first or third structure. In addition, the second structure is configured to be movable, and the first and / or third structure is configured to be immovable, or power is input to the first and / or third structure. This is also true when power is supplied.

  Further, as described above, the relationship between the electrical angular velocities in Expression (25) and the torque in Expression (32) are established on condition that b = a + c and a−c ≠ 0. This condition b = a + c is expressed as b = (p + q) / 2, that is, b / q = (1 + p / q) / 2, where p is the number of magnetic poles and q is the number of armature magnetic poles. Here, assuming that p / q = m, b / q = (1 + m) / 2 is obtained. As is apparent from the fact that the condition of b = a + c is satisfied, the number of armature magnetic poles The ratio between the number of magnetic poles and the number of soft magnetic materials is 1: m: (1 + m) / 2. In addition, the fact that the condition of a−c ≠ 0 is satisfied indicates that m ≠ 1.0. According to the electric motor of the present invention, in a predetermined section in a predetermined direction, the ratio of the number of armature magnetic poles, the number of magnetic poles, and the number of soft magnetic bodies is 1: m: (1 + m) / 2 (m ≠ 1. 0), the relationship between the electrical angular velocities shown in the equation (25) and the torque relationship shown in the equation (32) are established, and it can be seen that the electric motor operates properly.

  In addition, unlike the conventional case described above, the electric motor can be operated with only a single soft magnetic material row, so that the electric motor can be reduced in size and the manufacturing cost can be reduced. Further, as is clear from equations (25) and (32), α = a / c, that is, by setting the ratio of the number of pole pairs of the magnetic poles to the number of pole pairs of the armature magnetic poles, The relationship between the electrical angular velocities between the three structures and the relationship between the torques between the first to third structures can be set freely, and thus the degree of freedom in designing the motor can be increased. This effect is similarly obtained when the number of phases of the coils of the plurality of armatures is other than the above-described value 3, and is also obtained when the electric motor is not a rotating machine but a linear motor. In the case of a linear motor, it is a matter of course that the relationship of “thrust” rather than “torque” can be set freely.

  According to a second aspect of the present invention, in the electric motors 1 and 31 according to the first aspect of the present invention, relative positional relationship detection means (first rotational position sensor 21, and the like) detects the relative positional relationship of the first to third structures. Control means (ECU 16) for controlling the moving magnetic field based on the relative positional relationship between the second rotational position sensor 22, the electrical angle converter 16b, and the position sensor 41) and the detected first to third structures. And further comprising.

  According to this configuration, the relative positional relationship detecting means detects the relative positional relationship of the three members of the first to third structures, and the detected three members of the first to third structures. Based on the relative positional relationship, the moving magnetic field is controlled by the control means. Thereby, since a magnetic force line can be appropriately generated between the magnetic pole, the soft magnetic material, and the armature magnetic pole, and the magnetic force by this magnetic force line can be appropriately applied, an appropriate operation of the electric motor can be ensured.

  According to a third aspect of the present invention, in the electric motors 1 and 31 according to the second aspect, the relative positional relationship detecting means (the first rotational position sensor 21, the second rotational position sensor 22, and the electrical angle converter 16b) is the first To detect the electrical angular positions of the first structure and the third structure with respect to the second structure as the relative positional relationship of the third structure, and the control means detects the electrical power of the detected third structure. Based on the difference between the value obtained by multiplying the angular position (second rotor electrical angle θER2) by (1 + m) and the value obtained by multiplying the detected electrical angle position (first rotor electrical angle θER1) of the first structure by m. The moving magnetic field is controlled.

  According to this configuration, the value obtained by multiplying the electrical angle position of the third structure with respect to the second structure by (1 + m) and the value obtained by multiplying the electrical angle position of the first structure with respect to the second structure by m. Based on the difference, the moving magnetic field is controlled. As apparent from claim 1, m represents the ratio of the number of magnetic poles to the number of armature magnetic poles. In addition, as described in the operation of the first aspect, during the operation of the electric motor, the relationship between the electrical angle position of the moving magnetic field and the electrical angle positions of the second and third structures is expressed by Expression (24). In this equation (24), α represents the ratio (a / c) of the number of magnetic pole pairs to the number of pole pairs of the armature magnetic poles, that is, the ratio of the number of magnetic poles to the number of armature magnetic poles, and is equal to m. Therefore, according to the configuration described above, a more appropriate operation of the electric motor can be ensured.

  The invention according to claim 4 is the electric motor 1, 31 according to any one of claims 1 to 3, wherein the magnetic pole is a magnetic pole of the permanent magnets 4a, 34a.

  According to this configuration, since the magnetic pole of the permanent magnet is used as the magnetic pole, an electric circuit and a coil for supplying electric power to the electromagnet are not required unlike the case of using the magnetic pole of the electromagnet. As a result, the electric motor can be further reduced in size and the configuration can be simplified. Further, for example, when the first structure having the magnetic poles is configured to be rotatable, a slip ring for supplying power when the magnetic poles of the electromagnet are used as the magnetic poles becomes unnecessary, and accordingly, the motor can be reduced in size. , Can increase efficiency.

  The invention according to claim 5 is the electric motor 1 according to any one of the first to fourth aspects, wherein the electric motor is a rotating machine.

  According to this configuration, the effect described in any one of claims 1 to 4 can be obtained in the rotating machine.

  The invention according to claim 6 is the electric motor 31 according to any one of the first to fourth aspects, wherein the electric motor is a linear motor.

  According to this configuration, the effect described in any one of claims 1 to 4 can be obtained in the linear motor.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an electric motor 1 according to a first embodiment of the present invention. The electric motor 1 is configured as a rotating machine, and its operation is controlled by the ECU 16 shown in FIG. As shown in FIG. 1, the electric motor 1 includes a stationary case 2, a stator 3 provided in the case 2, a first rotor 4 provided in the case 2 so as to face the stator 3, and both 3 , 4, a second rotor 5, a first rotating shaft 6 and a second rotating shaft 7 are provided. In FIG. 1, some elements such as the first rotating shaft 6 are drawn in a skeleton diagram for convenience of illustration. Further, in FIG. 1 and other drawings described later, hatching of a portion showing a cross section is omitted.

  The case 2 has a cylindrical peripheral wall 2a and a pair of disk-shaped side walls 2b and 2c provided integrally at both ends of the peripheral wall 2a. Mounting holes 2d and 2e are formed in the center of these side walls 2b and 2c, respectively, and bearings 8 and 9 are mounted in these mounting holes 2d and 2e, respectively.

  The first and second rotary shafts 6 and 7 are rotatably supported by bearings 8 and 9, respectively, and are arranged concentrically with each other. Further, a part of each of the first and second rotating shafts 6 and 7 is accommodated in the case 2, and the rest protrudes outward of the case 2. Further, the stator 3, the second rotor 5 and the first rotor 4 are arranged in this order from the outside in the radial direction of the first rotating shaft 6 (hereinafter simply referred to as “radial direction”), and are concentrically arranged. Has been placed.

  The stator 3 generates a rotating magnetic field. As shown in FIG. 3, the stator 3 includes an iron core 3a and U-phase, V-phase, and W-phase coils 3c, 3d, and 3e provided on the iron core 3a. is doing. In FIG. 1, only the U-phase coil 3c is shown for convenience. The iron core 3 a has a cylindrical shape in which a plurality of steel plates are laminated, extends in the axial direction of the first rotating shaft 6 (hereinafter simply referred to as “axial direction”), and the inner peripheral surface of the peripheral wall 2 a of the case 2. Is attached. In addition, twelve slots 3b are formed on the inner peripheral surface of the iron core 3a, and these slots 3b extend in the axial direction and are connected to the circumferential direction of the first rotating shaft 6 (hereinafter simply referred to as “circumferential direction”). ”) At equal intervals. The U-phase to W-phase coils 3c to 3e are wound around the slot 3b by distributed winding (wave winding) and connected to the variable power source 15 (see FIG. 2). The variable power source 15 is a combination of an electric circuit including an inverter and a battery, and is connected to the ECU 16.

  In the stator 3 configured as described above, when power is supplied from the variable power source 15, four magnetic poles are generated at equal intervals in the circumferential direction at the end of the iron core 3a on the first rotor 4 side (FIG. 5). The rotating magnetic field generated by these magnetic poles rotates in the circumferential direction. Hereinafter, the magnetic poles generated in the iron core 3a are referred to as “armature magnetic poles”. The polarities of the two armature magnetic poles adjacent to each other in the circumferential direction are different from each other. In FIG. 5 and other drawings to be described later, the armature magnetic poles are indicated by (N) and (S) on the iron core 3a and the U-phase to W-phase coils 3c to 3e.

  As shown in FIG. 3, the first rotor 4 has a magnetic pole row composed of eight permanent magnets 4a. These permanent magnets 4 a are arranged at equal intervals in the circumferential direction, and this magnetic pole row faces the iron core 3 a of the stator 3. Each permanent magnet 4 a extends in the axial direction, and the length in the axial direction is set to be the same as that of the iron core 3 a of the stator 3.

  Moreover, the permanent magnet 4a is attached to the outer peripheral surface of the ring-shaped fixing | fixed part 4b. The fixed portion 4b is made of a soft magnetic material, for example, iron or a laminate of a plurality of steel plates, and the inner peripheral surface of the fixed portion 4b is a disc-like shape that is concentrically provided integrally with the first rotating shaft 6. It is attached to the outer peripheral surface of the flange 4c. Thereby, the 1st rotor 4 containing the permanent magnet 4a can rotate integrally with the 1st rotating shaft 6. FIG. Furthermore, since the permanent magnet 4a is attached to the outer peripheral surface of the fixed portion 4b made of a soft magnetic material as described above, each permanent magnet 4a has (N) or (N One magnetic pole of S) appears. In FIG. 3 and other drawings to be described later, the magnetic poles of the permanent magnet 4a are represented by (N) and (S). The polarities of the two permanent magnets 4a adjacent to each other in the circumferential direction are different from each other.

  The second rotor 5 has a soft magnetic material row composed of six cores 5a. The cores 5a are arranged at equal intervals in the circumferential direction, and the soft magnetic material rows are arranged at predetermined intervals between the iron core 3a of the stator 3 and the magnetic pole rows of the first rotor 4 respectively. Has been. Each core 5a is a soft magnetic material, for example, a laminate of a plurality of steel plates, and extends in the axial direction. Further, the length of the core 5a in the axial direction is set to be the same as that of the iron core 3a of the stator 3 like the permanent magnet 4a. Furthermore, the core 5a is attached to the outer end portion of the disc-shaped flange 5b via a cylindrical connecting portion 5c that extends slightly in the axial direction. The flange 5b is integrally and concentrically provided on the second rotating shaft 7. Thus, the second rotor 5 including the core 5a is rotatable integrally with the second rotating shaft 7. In addition, in FIG. 3, the connection part 5c and the flange 5b are abbreviate | omitted for convenience.

  As shown in FIG. 2, the electric motor 1 is provided with an electromagnetic induction type first rotational position sensor 21 and a second rotational position sensor 22. The first rotational position sensor 21 is a rotational angle position (hereinafter referred to as “first rotor rotational angle θR1”) of a specific permanent magnet 4a of the first rotor 4 with respect to a specific U-phase coil 3c (hereinafter referred to as “reference coil”) of the stator 3. ) Is output to the ECU 16. The second rotational position sensor 22 outputs to the ECU 16 a detection signal indicating the rotational angular position of the specific core 5a of the second rotor 5 with respect to the reference coil (hereinafter referred to as “second rotor rotational angle θR2”).

  Further, the electric motor 1 is provided with a first current sensor 23 and a second current sensor 24. These first and second current sensors 23 and 24 respectively represent currents flowing through the U-phase and V-phase coils 3c and 3d (hereinafter referred to as “U-phase current Iu” and “V-phase current Iv”, respectively). A detection signal is output to the ECU 16.

  The ECU 16 is composed of a microcomputer including an I / O interface, a CPU, a RAM, a ROM, and the like, and controls the operation of the electric motor 1 according to detection signals from the various sensors 21 to 24 described above.

  In the present embodiment, the permanent magnet 4a corresponds to the magnetic pole in the present invention, and the first rotor 4 and the first rotating shaft 6 correspond to the first structure in the present invention. The iron core 3a and the U-phase to W-phase coils 3c to 3e correspond to the armature in the present invention, and the stator 3 corresponds to the second structure in the present invention. Furthermore, the core 5a corresponds to the soft magnetic body in the present invention, and the second rotor 5 and the second rotating shaft 7 correspond to the third structure in the present invention. The ECU 16 corresponds to the control means in the present invention, and the first and second rotational position sensors 21 and 22 correspond to the relative positional relationship detection means in the present invention.

As described above, the electric motor 1 has four armature magnetic poles, eight magnetic poles of the permanent magnet 4a (hereinafter referred to as “magnet magnetic pole”), and six cores 5a. That is, the ratio of the number of armature magnetic poles, the number of magnet magnetic poles, and the number of cores 5a (hereinafter referred to as “pole number ratio”) is set to 1: 2.0: (1 + 2.0) / 2. As is clear from this and the equations (18) to (20) described above, as the first rotor 4 and the second rotor 5 rotate with respect to the stator 3, the U-phase to W-phase coils 3c to 3c. The counter electromotive voltages generated in 3e (hereinafter referred to as “U phase counter electromotive voltage Vcu”, “V phase counter electromotive voltage Vcv”, and “W phase counter electromotive voltage Vcw”) are expressed by the following equations (33), (34) and (35)

  Here, I is the amplitude (maximum value) of the current flowing through the U-phase to W-phase coils 3c to 3e, and ψF is the maximum value of the magnetic flux of the magnet magnetic pole. θER1 is a value obtained by converting the first rotor rotation angle θR1 that is a so-called mechanical angle into an electrical angle position (hereinafter referred to as “first rotor electrical angle”). Specifically, the first rotor rotation angle θR1 is set to an armature. This is a value obtained by multiplying the number of pole pairs of the magnetic poles, that is, the value 2. θER2 is a value obtained by converting the second rotor rotation angle θR2, which is a mechanical angle, into an electrical angle position (hereinafter, referred to as “second rotor electrical angle”). Specifically, the second rotor rotation angle θR2 includes an armature magnetic pole. It is a value obtained by multiplying the number of pole pairs (value 2). Further, ωER1 is a time differential value of θER1, that is, a value obtained by converting the angular velocity of the first rotor 4 with respect to the stator 3 into an electrical angular velocity (hereinafter referred to as “first rotor electrical angular velocity”). Further, ωER2 is the second rotor electrical angular velocity, and is a time differential value of θER2, that is, a value obtained by converting the angular velocity of the second rotor 5 with respect to the stator 3 into an electrical angular velocity (hereinafter referred to as “second rotor electrical angular velocity”). .

Further, as is clear from the above-mentioned pole number ratio and the equations (21) to (23), the U-phase current Iu, the V-phase current Iv, and the current flowing through the W-phase coil 3e (hereinafter referred to as “W-phase current Iw”). Are expressed by the following equations (36), (37), and (38), respectively.

Further, as is clear from the pole number ratio and the equations (24) and (25), the electric angle position of the rotating magnetic field vector of the stator 3 with respect to the reference coil (hereinafter referred to as “magnetic field electric angle position θMFR”) is The electrical angular velocity of the rotating magnetic field with respect to the stator 3 (hereinafter referred to as “magnetic field electrical angular velocity ωMFR”) is represented by the following equation (40).

  For this reason, the relationship among the magnetic field electrical angular velocity ωMFR, the first rotor electrical angular velocity ωER1 and the second rotor electrical angular velocity ωER2 is represented by a so-called collinear diagram, for example, as shown in FIG.

Also, assuming that the electric power supplied to the stator 3 and the torque equivalent to the magnetic field electrical angular velocity ωMFR is the driving equivalent torque TSE, the driving equivalent torque TSE and the torque transmitted to the first rotor 4 (hereinafter referred to as “first rotor”). The relationship between the TR1 (referred to as “transmission torque”) and the torque transmitted to the second rotor 5 (hereinafter referred to as “second rotor transmission torque”) TR2 is as follows from the pole number ratio and the above equation (32). It is represented by Formula (41).

  The relationship between the electrical angular velocity represented by the above formula (40) and the torque represented by the above formula (41) are as follows: the sun gear, the ring gear and the sun gear of the planetary gear device in which the gear ratio of the sun gear and the ring gear is 1: 2. The relationship between the rotational speed and torque in the carrier is exactly the same.

  The ECU 16 controls energization of the U-phase to W-phase coils 3c to 3e based on the above equation (39), thereby controlling the rotating magnetic field. Specifically, as shown in FIG. 2, the ECU 16 includes a target current calculator 16a, an electrical angle converter 16b, a current coordinate converter 16c, a deviation calculator 16d, a current controller 16e, and a voltage coordinate converter 16f. The rotating magnetic field is controlled by controlling U-phase to W-phase currents Iu, Iv, and Iw by so-called vector control. In the present embodiment, the electrical angle converter 16b corresponds to a relative positional relationship detection unit.

  The target current calculation unit 16a calculates and calculates target values of a d-axis current Id and a q-axis current Iq, which will be described later (hereinafter referred to as “target d-axis current Id_tar” and “target q-axis current Iq_tar”, respectively). The target d-axis current Id_tar and the target q-axis current Iq_tar are output to the deviation calculating unit 16d. The target d-axis current Id_tar and the target q-axis current Iq_tar are calculated according to, for example, the load of the electric motor 1.

  The electrical angle converter 16b receives the first and second rotor rotational angles θR1 and θR2 detected by the first and second rotational position sensors 21 and 22, respectively. The electrical angle converter 16b multiplies the input first and second rotor rotation angles θR1 and θR2 by the number of pole pairs (value 2) of the armature magnetic poles, thereby causing the first and second rotor electrical functions described above. The angles θER1 and θER2 are calculated. The calculated first and second rotor electrical angles θER1, θER2 are output to the current coordinate converter 16c and the voltage coordinate converter 16f.

また、電流座標変換器１６ｃは、算出したｄ軸電流Ｉｄおよびｑ軸電流Ｉｑを偏差算出部１６ｄに出力する。 In the current coordinate converter 16c, in addition to the first and second rotor electrical angles θER1 and θER2, U-phase and V-phase currents Iu and Iv detected by the first and second current sensors 23 and 24, respectively. Entered. Based on the input U-phase and V-phase currents Iu and Iv and the first and second rotor electrical angles θe1 and θe2, the current coordinate converter 16c The W-phase currents Iu to Iw are converted into a d-axis current Id and a q-axis current Iq on the dq coordinate. The dq coordinates rotate at (3 · ωER2-2 · ωER1) with (3 · θER2-2 · θER1) as the d axis and an axis orthogonal to the d axis as the q axis. Specifically, the d-axis current Id and the q-axis current Iq are calculated by the following equation (42).

Further, the current coordinate converter 16c outputs the calculated d-axis current Id and q-axis current Iq to the deviation calculating unit 16d.

  The deviation calculating unit 16d calculates a deviation between the input target d-axis current Id_tar and the d-axis current Id (hereinafter referred to as “d-axis current deviation dId”), and the input target q-axis current Iq_tar and q-axis current. A deviation from Iq (hereinafter referred to as “q-axis current deviation dIq”) is calculated. Further, the calculated d-axis current deviation dId and q-axis current deviation dIq are output to the current controller 16e.

  Based on the input d-axis current deviation dId and q-axis current deviation dIq, the current controller 16e calculates the d-axis voltage Vd and the q-axis voltage Vq by a predetermined feedback control algorithm, for example, a PI control algorithm. Thereby, the d-axis voltage Vd is calculated so that the d-axis current Id becomes the target d-axis current Id_tar, and the q-axis voltage Vq is calculated so that the q-axis current Iq becomes the target q-axis current Iq_tar. The calculated d-axis and q-axis voltages Vd and Vq are output to the voltage coordinate converter 16f.

また、電圧座標変換器１６ｆは、算出したＵ相〜Ｗ相の電圧指令値Ｖｕ＿ｃｍｄ〜Ｖｗ＿ｃｍｄを前述した可変電源１５に出力する。 The voltage coordinate converter 16f converts the input d-axis voltage Vd and q-axis voltage Vq into the U-phase on the three-phase AC coordinate based on the input first and second rotor electrical angles θER1 and θER2. The values are converted into W-phase voltage Vu, Vv, and Vw command values (hereinafter referred to as “U-phase voltage command value Vu_cmd”, “V-phase voltage command value Vv_cmd”, and “W-phase voltage command value Vw_cmd”, respectively). Specifically, U-phase to W-phase voltage command values Vu_cmd to Vw_cmd are calculated by the following equation (43).

The voltage coordinate converter 16f outputs the calculated U-phase to W-phase voltage command values Vu_cmd to Vw_cmd to the variable power supply 15 described above.

  Accordingly, the variable power supply 15 applies the U-phase to W-phase voltages Vu to Vw to the electric motor 1 so as to become the U-phase to W-phase voltage command values Vu_cmd to Vw_cmd, respectively. As a result, U-phase to W-phase currents Iu to Iw are controlled. In this case, these currents Iu to Iw are respectively expressed by the above-described equations (36) to (38). The current amplitude I is determined based on the target d-axis current Id_tar and the target q-axis current Iq_tar.

  By the control by the ECU 16 as described above, the magnetic field electrical angle position θMFR is controlled so as to satisfy the equation (39), and the magnetic field electrical angular velocity ωMFR is controlled so that the equation (40) is satisfied.

  The electric motor 1 having the above configuration is used as follows, for example. That is, in a state where one of the first and second rotors 4 and 5 is fixed or power is input to one of them, the power supplied to the stator 3 is converted into power and output from the other. Further, when power is simultaneously output from both the first and second rotors 4, 5, a load torque that satisfies Equation (41) is applied to the first and second rotors 4, 5 simultaneously. For example, it is used as a power source for a counter rotating propeller.

  Next, how the electric power supplied to the stator 3 is specifically converted into power and output from the first rotor 4 and the second rotor 5 will be described. First, the case where electric power is supplied to the stator 3 with the first rotor 4 fixed will be described with reference to FIGS. In FIGS. 5 to 7, reference numerals of a plurality of components are omitted for convenience. The same applies to other drawings described later. In order to facilitate understanding, the same one armature magnetic pole and core 5a shown in FIGS. 5 to 7 are hatched.

  First, as shown in FIG. 5A, the center of one core 5a and the center of one permanent magnet 4a coincide with each other in the circumferential direction, and the third core 5a from the core 5a From the state where the center and the center of the fourth permanent magnet 4a from the permanent magnet 4a coincide with each other in the circumferential direction, a rotating magnetic field is generated to rotate leftward in the figure. At the start of the generation, the position of every other armature magnetic pole having the same polarity is made to coincide with the center of each permanent magnet 4a whose center coincides with the core 5a in the circumferential direction. The polarity of the magnetic pole is made different from that of the permanent magnet 4a.

  As described above, the rotating magnetic field generated by the stator 3 is generated between the first rotor 4 and the second rotor 5 having the core 5 a is disposed between the stator 3 and the first rotor 4. Each core 5a is magnetized by the child magnetic pole and the magnet magnetic pole. Since this and the space | interval between each adjacent core 5a are spaced apart, the magnetic force line ML which connects an armature magnetic pole, the core 5a, and a magnet magnetic pole generate | occur | produces. 5 to 7, for convenience, the magnetic lines of force ML in the iron core 3a and the fixed portion 4b are omitted. The same applies to other drawings described later.

  In the state shown in FIG. 5A, the magnetic lines of force ML connect the armature magnetic pole, the core 5a, and the magnet magnetic pole, whose positions in the circumferential direction coincide with each other, and the armature magnetic pole, the core 5a, and the magnet magnetic pole. It is generated so as to connect the armature magnetic pole, the core 5a, and the magnet magnetic pole adjacent to each other in each circumferential direction. In this state, since the magnetic lines of force ML are linear, no magnetic force that rotates in the circumferential direction acts on the core 5a.

  Then, when the armature magnetic pole rotates from the position shown in FIG. 5 (a) to the position shown in FIG. 5 (b) along with the rotation of the rotating magnetic field, the magnetic line of force ML is bent, and accordingly, the magnetic line of force ML becomes a straight line. Magnetic force acts on the core 5a so as to form a shape. In this case, with respect to the straight line connecting the armature magnetic pole and the magnet magnetic pole connected to each other by the magnetic force line ML, the magnetic force line ML protrudes in the direction opposite to the rotating direction of the rotating magnetic field (hereinafter referred to as “magnetic field rotating direction”) in the core 5a. Therefore, the magnetic force acts to drive the core 5a in the magnetic field rotation direction. The core 5a is driven in the magnetic field rotation direction by the action of the magnetic force by the magnetic field lines ML, and rotates to the position shown in FIG. 5C, and the second rotor 5 and the second rotating shaft 7 provided with the core 5a. Also rotate in the direction of magnetic field rotation. The broken lines in FIGS. 5B and 5C indicate that the magnetic flux amount of the magnetic field lines ML is extremely small and the magnetic connection between the armature magnetic pole, the core 5a, and the magnet magnetic pole is weak. The same applies to other drawings described later.

  Further, as the rotating magnetic field further rotates, the above-described series of operations, that is, “the magnetic force line ML bends in the direction opposite to the magnetic field rotating direction in the core 5a → the core 5a has a linear shape so that the magnetic force line ML becomes linear. The action that magnetic force acts → the core 5a, the second rotor 5, and the second rotating shaft 7 rotate in the direction of rotating the magnetic field "is shown in FIGS. 6 (a) to 6 (d), 7 (a) and (a). Repeated as shown in b). The electric power supplied to the stator 3 is converted into motive power by the action of the magnetic force due to the magnetic field lines ML as described above, and is output from the second rotating shaft 7.

  FIG. 8 shows a state in which the armature magnetic pole has been rotated by an electrical angle of 2π from the state of FIG. 5A. As is clear from the comparison between FIG. 8 and FIG. It can be seen that the armature magnetic pole rotates in the same direction by a rotation angle of 1/3. This result coincides with the fact that ωER2 = ωMFR / 3 is obtained by setting ωER1 = 0 in the equation (40).

  Next, the operation when power is supplied to the stator 3 with the second rotor 5 fixed will be described with reference to FIGS. 9 to 11. In FIGS. 9 to 11, the same one armature magnetic pole and permanent magnet 4a are hatched for easy understanding. First, as shown in FIG. 9A, as in the case of FIG. 5A described above, the center of one core 5a and the center of one permanent magnet 4a coincide with each other in the circumferential direction. From the state where the center of the third core 5a from the core 5a and the center of the fourth permanent magnet 4a from the permanent magnet 4a coincide with each other in the circumferential direction, the rotating magnetic field is moved to the left in the figure. Generate to rotate. At the start of the generation, the position of every other armature magnetic pole having the same polarity is made to coincide with the center of each permanent magnet 4a whose center coincides with the core 5a in the circumferential direction. The polarity of the magnetic pole is made different from that of the permanent magnet 4a.

  In the state shown in FIG. 9A, as in the case of FIG. 5A, the magnetic force lines ML connect the armature magnetic pole, the core 5a, and the magnetic magnetic pole whose circumferential positions coincide with each other, and The armature magnetic pole, the core 5a, and the magnet magnetic pole are generated so as to connect the adjacent armature magnetic pole, the core 5a, and the magnet magnetic pole on both sides in the circumferential direction. Further, in this state, since the magnetic lines of force ML are linear, no magnetic force that rotates in the circumferential direction acts on the permanent magnet 4a.

  When the armature magnetic pole rotates from the position shown in FIG. 9 (a) to the position shown in FIG. 9 (b) along with the rotation of the rotating magnetic field, the magnetic lines of force ML are bent, and accordingly, the magnetic lines of force ML are linear. Thus, a magnetic force acts on the permanent magnet 4a. In this case, since the permanent magnet 4a is in a position advanced in the magnetic field rotation direction from the extension line of the armature magnetic pole and the core 5a connected to each other by the magnetic force line ML, the magnetic force is applied to the permanent magnet 4a on the extension line. , Ie, the permanent magnet 4a is driven in the direction opposite to the magnetic field rotation direction. The permanent magnet 4a is driven in the direction opposite to the magnetic field rotation direction by the action of the magnetic force by the magnetic field lines ML, and rotates to the position shown in FIG. 9C, and the first rotor 4 provided with the permanent magnet 4a and The first rotation shaft 6 also rotates in the direction opposite to the magnetic field rotation direction.

  Further, as the rotating magnetic field further rotates, the above-described series of operations, that is, “the magnetic field ML is bent and the permanent magnet 4a is more magnetic than the armature magnetic pole and the extension line of the core 5a connected to each other by the magnetic field line ML. The magnetic force acts on the permanent magnet 4a so that the magnetic lines of force ML are linear. The permanent magnet 4a, the first rotor 4 and the first rotating shaft 6 are opposite to the magnetic field rotating direction. The operation of “rotate to” is repeatedly performed as shown in FIGS. 10A to 10D, 11A, and 11B. The electric power supplied to the stator 3 is converted into power by the action of the magnetic force generated by the magnetic lines of force ML as described above, and is output from the first rotating shaft 6.

  FIG. 11B shows a state in which the armature magnetic pole has been rotated by an electrical angle of 2π from the state of FIG. 9A, which is apparent from a comparison between FIG. 11B and FIG. 9A. In addition, it can be seen that the permanent magnet 4a rotates in the opposite direction by a half rotation angle with respect to the armature magnetic pole. This result agrees with the fact that −ωER1 = ωMFR / 2 is obtained by setting ωER2 = 0 in the equation (40).

  12 and 13 set the numbers of armature magnetic poles, cores 5a, and permanent magnets 4a to values 16, 18 and 20, respectively, to fix the first rotor 4 and to supply power to the stator 3. The simulation result in the case where motive power is output from the second rotor 5 by the supply of is shown. FIG. 12 shows an example of transition of the U-phase to W-phase back electromotive voltages Vcu to Vcw while the second rotor electrical angle θER2 changes from 0 to 2π.

  In this case, from the fact that the first rotor 4 is fixed, the number of pole pairs of the armature magnetic pole and the magnet magnetic pole is 8 and 10, respectively, and the formula (25), the magnetic field electrical angular velocity ωMFR, the first And the relationship between the second rotor electrical angular velocities ωER1 and ωER2 is represented by ωMFR = 2.25 · ωER2. As shown in FIG. 12, while the second rotor electrical angle θER2 changes from 0 to 2π, the U-phase to W-phase back electromotive voltages Vcu to Vcw are generated for approximately 2.25 cycles. FIG. 12 shows a change state of the U-phase to W-phase counter electromotive voltages Vcu to Vcw as viewed from the second rotor 5. As shown in FIG. With the electrical angle θER2 as the horizontal axis, the W-phase counter electromotive voltage Vcw, the V-phase counter electromotive voltage Vcv, and the U-phase counter electromotive voltage Vcu are arranged in this order. This is because the second rotor 5 rotates in the magnetic field rotation direction. Represents that As described above, it was confirmed from the simulation results shown in FIG. 12 that ωMFR = 2.25 · ωER2 was established.

  Further, FIG. 13 shows an example of transition of the driving equivalent torque TSE and the first and second rotor transmission torques TR1 and TR2. In this case, the number of pole pairs of the armature magnetic pole and the magnet magnetic pole is 8 and 10, respectively, and from the above equation (32), the driving equivalent torque TSE, the first and second rotor transmission torques TR1, TR2 The relationship is expressed by TSE = TR1 / 1.25 = −TR2 / 2.25. As shown in FIG. 13, the driving equivalent torque TSE is approximately -TREF, the first rotor transmission torque TR1 is approximately 1.25 · (-TREF), and the second rotor transmission torque TR2 is approximately 2.25.・ It is TREF. This TREF is a predetermined torque value (for example, 200 Nm). Thus, it was confirmed from the simulation results shown in FIG. 13 that TSE = TR1 / 1.25 = −TR2 / 2.25 was established.

  14 and 15 set the number of armature magnetic poles, cores 5a and permanent magnets 4a in the same manner as in FIGS. 12 and 13, and fix the second rotor 5 in place of the first rotor 4. The simulation result in the case where power is output from the first rotor 4 by supplying electric power to the stator 3 is shown. FIG. 14 shows an example of the transition of the U-phase to W-phase back electromotive voltages Vcu to Vcw while the first rotor electrical angle θER1 changes from 0 to 2π.

  In this case, from the fact that the second rotor 5 is fixed, the number of pole pairs of the armature magnetic pole and the magnet magnetic pole is 8 and 10, respectively, and the formula (25), the magnetic field electrical angular velocity ωMFR, the first And the relationship between the second rotor electrical angular velocities ωER1 and ωER2 is represented by ωMFR = −1.25 · ωER1. As shown in FIG. 14, while the first rotor electrical angle θER1 varies from 0 to 2π, the U-phase to W-phase counter electromotive voltages Vcu to Vcw are generated for approximately 1.25 cycles. FIG. 14 shows a change state of the U-phase to W-phase back electromotive voltages Vcu to Vcw as viewed from the first rotor 4, and as shown in FIG. With the electrical angle θER1 as the horizontal axis, the U-phase counter electromotive voltage Vcu, the V-phase counter electromotive voltage Vcv, and the W-phase counter electromotive voltage Vcw are arranged in this order, which means that the first rotor 4 is in a direction opposite to the magnetic field rotation direction. Indicates that it is rotating. As described above, it was confirmed from the simulation results shown in FIG. 14 that ωMFR = −1.25 · ωER1 was established.

  Further, FIG. 15 shows an example of transition of the driving equivalent torque TSE and the first and second rotor transmission torques TR1 and TR2. Also in this case, as in the case of FIG. 13, the relationship between the driving equivalent torque TSE and the first and second rotor transmission torques TR1 and TR2 is expressed by TSE = TR1 / 1.25 = −TR2 from Expression (32). /2.25. As shown in FIG. 15, the driving equivalent torque TSE is approximately TREF, the first rotor transmission torque TR1 is approximately 1.25 · TREF, and the second rotor transmission torque TR2 is approximately −2.25 · TREF. It has become. Thus, it was confirmed from the simulation results shown in FIG. 15 that TSE = TR1 / 1.25 = −TR2 / 2.25 was established.

  As described above, according to the present embodiment, since the electric motor 1 can be operated only by a single soft magnetic material row constituted by the cores 5a, the electric motor 1 can be reduced in size and manufacturing cost can be reduced. Can do. Further, by setting the ratio of the number of pole pairs of the magnetic poles to the number of pole pairs of the armature poles, the relationship between the magnetic field electrical angular velocity ωMFR, the first and second rotor electrical angular velocities ωER1, ωER2, and the drive equivalent torque TSE, The relationship between the first and second rotor transmission torques TR1 and TR2 can be freely set, and therefore the degree of freedom in designing the electric motor 1 can be increased.

  Further, since the magnetic field electrical angle position θMFR is controlled so that the formula (40) is satisfied, an appropriate operation of the electric motor 1 can be ensured. Further, since the magnetic pole of the permanent magnet 4a is used, an electric circuit and a coil for supplying electric power to the electromagnet are not required unlike the case of using the magnetic pole of the electromagnet. Thereby, the electric motor 1 can be further reduced in size and the configuration can be simplified. Further, the slip ring for supplying power when the magnetic pole of the electromagnet is used as the magnetic pole becomes unnecessary, and accordingly, the electric motor 1 can be reduced in size and the efficiency can be increased.

  In the first embodiment described above, the first and second rotors 4 and 5 are configured to be rotatable. However, one of the both rotors 4 and 5 is configured to be non-rotatable and only the other is rotatable. You may comprise, and you may output motive power from the other. In this case, since one of the first and second rotors 4 and 5 is configured to be non-rotatable, it is obvious from the equation (39) that one of the electrical angular positions of the both rotors 4 and 5 has a value of 0. As described above, only the other electrical angle position of the both 4 and 5 is detected by a sensor or the like, and the rotating magnetic field may be controlled in accordance with the detected other electrical angle position. Moreover, you may comprise the stator 3 rotatably, in that case, an electric motor is used as follows, for example. That is, in a state where power is input to one of the first and second rotors 4, 5 and the stator 3, power is supplied to the stator 3, and this power is converted into power, and the other of the rotors 4, 5 is Output from. Alternatively, when power is simultaneously output from the stator 3 and the other in a state where one of the first and second rotors 4 and 5 is fixed (or a state where power is input to one of the rotors 4 and 5), the formula (41) It is used as a power source for a counter-rotating propeller such that a load torque that satisfies the above conditions acts on the stator 3 and the other simultaneously.

  Furthermore, in the first embodiment, the rotation angle positions of the specific permanent magnet 4a and the core 5a with respect to the reference coil, that is, the specific U-phase coil 3c, are detected as the first and second rotor rotation angles θR1 and θR2, respectively. However, as long as it represents the rotational angle positions of the first and second rotors 4 and 5 with respect to the stator 3, the rotational angle positions of other parts may be detected. For example, the rotation angle position of a specific portion of the fixed portion 4b or the first rotating shaft 6 with respect to a specific portion of the specific V-phase coil 3d, specific W-phase coil 3e, or case 2 is defined as the first rotor rotation angle θR1. The rotation angle position of a specific part of the flange 5b or the second rotation shaft 7 may be detected as the second rotor rotation angle θR2.

  In the first embodiment, the magnetic field electrical angle position θMFR used for controlling the rotating magnetic field is used as the first and second rotor rotation angles θR1 and θR2 detected by the first and second rotational position sensors 21 and 22. Although it is used and is calculated by the equation (39), it may be obtained by the method described in Japanese Patent Application No. 2007-280916. Specifically, a planetary gear device in which the ratio of the number of teeth of the sun gear and the ring gear is the same value as the ratio of the other number to the number of one of the armature magnetic pole and the magnet magnetic pole, and a single rotational position sensor are prepared, One of the sun gear and the ring gear is connected to the first rotor 4 and the carrier is connected to the second rotor 5, respectively, and the rotational angle position of the other of the sun gear and the ring gear with respect to the specific U-phase coil 3c is detected by a rotational position sensor. In this case, when the number of armature magnetic poles is larger than the number of magnet magnetic poles, a sun gear is connected to the first rotor 4.

  As described above, the rotational angle position detected by the rotational position sensor represents (1 + γ) θR2−γ · θR1 when the ratio of the number of magnet magnetic poles to the number of armature magnetic poles is γ. As is clear from this, the rotational magnetic field is controlled by the planetary gear unit and the single rotational position sensor without separately detecting the rotational angular positions of the first and second rotors 4 and 5 by the two sensors. Magnetic field electrical angle position θMFR used in the above can be obtained.

  Further, in the first embodiment, the stator 3 and the first rotor 4 are respectively arranged on the outer side and the inner side in the radial direction. On the contrary, they may be arranged on the inner side and the outer side in the radial direction. . Further, the stator 3, the first and second rotors 4, 5 are arranged so as to be aligned in the radial direction, and the electric motor 1 is configured as a so-called radial type, but the stator 3, the first and second rotors 4, 4 are configured. 5 may be arranged so as to be aligned in the axial direction, and the electric motor 1 may be configured as a so-called axial type.

  Next, an electric motor 31 according to a second embodiment of the present invention will be described with reference to FIGS. 16 and 17. Unlike the first embodiment, the electric motor 31 shown in the figure is configured as a linear motor, and is applied to a conveying device. In FIG. 16, the same constituent elements as those in the first embodiment are denoted by the same reference numerals. Hereinafter, a description will be given focusing on differences from the first embodiment.

  As shown in FIGS. 16 and 17, the electric motor 31 includes a stationary case 32, a first stator 33 provided in the case 32, and a first stator provided in the case 32 so as to face the first stator 33. 2 and a mover 35 provided between the stators 33 and 34.

  The case 32 has a plate-like bottom wall 32a whose longitudinal direction is the front-rear direction (depth direction in FIG. 16, vertical direction in FIG. 17), and side walls that extend upward from both ends of the bottom wall 32a and face each other. 32b and 32c are integrated.

  The first stator 33 generates a moving magnetic field, and as shown in FIG. 17, the iron core 33a and the U-phase, V-phase, and W-phase coils 33c, 33d, and 33e provided on the iron core 33a. have. The iron core 33a has a rectangular parallelepiped shape in which a plurality of steel plates are stacked, extends in the front-rear direction over the entire case 32, and is attached to the side wall 32b of the case 32. A large number of slots 33b are formed on the surface of the iron core 33a on the second stator 34 side, and these slots 33b extend in the vertical direction and are arranged at equal intervals in the front-rear direction. The U-phase to W-phase coils 33c to 33e are wound around the slot 33b by distributed winding (wave winding) and are connected to the variable power source 15 described above.

  In the first stator 33 configured as described above, when electric power is supplied from the variable power source 15, a large number of magnetic poles are generated at equal intervals in the front-rear direction at the end of the iron core 33a on the second stator 34 side (see FIG. 18), the moving magnetic field by these magnetic poles moves in the front-rear direction. Hereinafter, the magnetic poles generated in the iron core 33a are referred to as “armature magnetic poles” as in the first embodiment. In FIG. 18, the armature magnetic poles are indicated by (N) and (S) on the iron core 33 a and the U-phase to W-phase coils 33 c to 33 e as in FIG. 5. In this case, as shown in the figure, the number of armature magnetic poles in a predetermined section INT along the front-rear direction is a value 4.

  The second stator 34 has a magnetic pole row composed of a large number of permanent magnets 34a. These permanent magnets 34 a are arranged at equal intervals in the front-rear direction, and this magnetic pole row faces the iron core 33 a of the first stator 33. Each permanent magnet 34a is formed in a rectangular parallelepiped shape, and its vertical length is set to be the same as that of the iron core 33a. In addition, the permanent magnet 34a is attached to the right end portion of the upper surface of the bottom wall 32a (the right side in FIG. 16 is “right”) via the fixing portion 34b and is attached to the side wall 32c. The fixed portion 34b is made of a soft magnetic material such as iron. Since the permanent magnet 34a is attached to the fixed portion 34b made of iron in this way, each permanent magnet 34a has one magnetic pole (N) or (S) at the end on the first stator 33 side. Appears. 17 and 18, the magnetic poles of the permanent magnet 34a (hereinafter referred to as “magnet magnetic poles” as in the first embodiment) are denoted by (N) and (S), as in FIG. Further, as shown in FIG. 18, the polarities of the two permanent magnets 34a adjacent to each other in the front-rear direction are different from each other, and the number of permanent magnets 34a in the predetermined section INT is 8.

  The mover 35 has a soft magnetic body row composed of a top plate 35a provided above the first and second stators 33, 34 and six cores 35b provided on the top plate 35a. . The size of the top plate 35a in the front-rear direction and the left-right direction is smaller than that of the case 32 and covers a part of the first and second stators 33 and 34.

  Each core 35b is a soft magnetic material, for example, a rectangular parallelepiped shape in which a plurality of steel plates are laminated, and the length in the vertical direction is set to be the same as that of the iron core 33a. Moreover, the six cores 35b are connected by the top plate 35a via the connection part 35c provided in each upper end part, and are located in a line at equal intervals in the front-back direction. Further, the soft magnetic material row composed of the cores 35b is disposed between the iron core 33a of the first stator 33 and the magnetic pole row of the second stator 34 with a predetermined distance therebetween. A wheel 35d is provided at the bottom of each core 35b. The core 35b is placed on a rail (not shown) on the upper surface of the bottom wall 32a via the wheel 35d, whereby the mover 35 including the core 35b is movable in the front-rear direction. It cannot move left and right. In FIG. 17 and FIG. 18, the connecting portion 35c is omitted for convenience.

  In the present embodiment, the second stator 34 corresponds to the first structure in the present invention, and the permanent magnet 34a corresponds to the magnetic pole in the present invention. The first stator 33 corresponds to the second structure in the present invention, and the iron core 33a and the U-phase to W-phase coils 33c to 33e correspond to the armature in the present invention. Further, the mover 35 corresponds to the third structure in the present invention, and the core 35b corresponds to the soft magnetic body in the present invention.

  Further, the electric motor 31 is provided with an optical position sensor 41 (relative positional relationship detecting means), and this position sensor 41 is a specific mover 35 for a specific U-phase coil 33c of the first stator 33. A detection signal indicating the position of the core 35 b (hereinafter referred to as “mover position”) is output to the ECU 16. The ECU 16 obtains the relative positional relationship between the movable element 35 and the first and second stators 33 and 34 according to the detected movable element position, and based on this positional relationship, the U phase to the W phase. The energization to the coils 33c to 33e is controlled, thereby controlling the moving magnetic field. More specifically, this control is performed as follows.

  As shown in FIG. 18, in the predetermined section INT, as in the first embodiment, there are four armature magnetic poles, eight magnet magnetic poles, and six cores 35b. That is, the ratio of the number of armature magnetic poles, the number of magnet magnetic poles, and the number of cores 35b is set to 1: 2: (1 + 2) / 2. In the present embodiment, the electric angle position of the vector of the moving magnetic field (hereinafter referred to as “magnetic field electric angle position θMFM”) is expressed by θMFM = 3 from the fact that the permanent magnet 34a is configured to be immovable and the equation (39). Control is performed so that θEM is established. This θEM is a value obtained by converting the mover position into an electrical angle position (hereinafter referred to as “mover electrical angle position”). Specifically, the detected mover position has the number of pole pairs of the armature magnetic poles, that is, the value. It is a value obtained by multiplying two. This control is performed by controlling the current flowing through the U-phase to W-phase coils 33c to 33e by vector control, as in the first embodiment.

  As described above, the electrical angular velocity of the moving magnetic field (hereinafter referred to as “magnetic field electrical angular velocity ωMFM”) is controlled so that ωMFM = 3 · ωEM is established. This ωEM is a time differential value of the mover electrical angular position θEM, and is a value obtained by converting the moving speed of the mover 35 into an electrical angular speed (hereinafter referred to as “mover electrical angular speed”). Further, assuming that the power equivalent to the electric power supplied to the first stator 33 and the magnetic field electrical angular velocity ωMFM is the driving equivalent thrust FSE, this driving equivalent thrust FSE and the thrust transmitted to the mover 35 (hereinafter “movable”). The relationship of FM (referred to as “child transmission thrust”) is expressed by FSE = −FM / 3 from the equation (41).

  As described above, according to the present embodiment, similarly to the first embodiment, the electric motor 31 can be operated only by a single soft magnetic material row composed of the six cores 35b. In addition, the manufacturing cost can be reduced. Further, by setting the ratio of the number of pole pairs of the magnetic poles to the number of pole pairs of the armature poles in the predetermined section INT, the relationship between the magnetic field electrical angular velocity ωMFM and the mover electrical angular velocity ωEM, the driving equivalent thrust FSE, and the mover transmission The relationship of the thrust FM can be set freely, and therefore the degree of freedom in designing the electric motor 31 can be increased.

  Furthermore, since the magnetic field electrical angle position θMFM is controlled so that θMFM = 3 · θEM is established, an appropriate operation of the electric motor 31 can be ensured. Moreover, since the magnetic pole of the permanent magnet 34a is used similarly to 1st Embodiment, the further size reduction of the electric motor 31 and simplification of a structure can be achieved.

  In addition, you may comprise the electric motor 31 as follows. That is, the second mover is configured by connecting a plurality of permanent magnets 34 a of the second stator 34 with a top plate different from the top plate 35 a, and the second mover is moved in the front-rear direction with respect to the case 32. It can be moved freely. And like 1st Embodiment, you may make it output motive power from at least one of the needle | mover 35 and a 2nd needle | mover. In addition, the third mover may be configured by attaching the iron core 33a of the first stator 33 to the top plate, and the third mover may be configured to be movable in the front-rear direction with respect to the case 32. . As described in the first embodiment, power may be output from the mover 35, the second mover, or the third mover.

  When the second mover is provided as described above, the position of the specific permanent magnet 34a of the second mover with respect to the specific U-phase coil 33c is detected by a sensor or the like in addition to the position of the mover 35. The magnetic field electrical angle position θMFM is calculated based on the equation (39) according to the mover position and the detected position of the second mover. The calculated magnetic field electrical angle position θMFM is used for controlling the rotating magnetic field.

  Further, in the second embodiment, the position of the specific core 35a with respect to the specific U-phase coil 33c is detected as the mover position. The position of the part may be detected. For example, the position of a specific part such as the top plate 35a with respect to a specific part of the specific V-phase coil 33d, specific W-phase coil 33e, or case 32 may be detected as the mover position. This also applies to the case where the second movable element or the third movable element is provided as described above.

  In addition, this invention can be implemented in various aspects, without being limited to the described embodiment. For example, in the embodiment, one magnetic pole is constituted by the magnetic poles of a single permanent magnet 4a, 34a, but may be constituted by magnetic poles of a plurality of permanent magnets. For example, by arranging these two permanent magnets in an inverted V shape so that the magnetic poles of the two permanent magnets approach each other on the side of the stator 3 (first stator 33), magnetic field lines are formed. ML directivity can be increased. Further, instead of the permanent magnets 4a and 34a in the embodiment, an electromagnet or an armature capable of generating a moving magnetic field may be used. Further, in the embodiment, the U-phase to W-phase coils 3c to 3e and 33c to 33e are wound around the slots 3b and 33b by distributed winding, but the invention is not limited to this, and concentrated winding may be used. Moreover, in embodiment, although the coils 3c-3e and 33c-33e are comprised with the three-phase coil of U phase-W phase, if a moving magnetic field (rotating magnetic field) can be generated, the number of phases of this coil will become this It is not limited and is arbitrary.

  Furthermore, as a number of slots 3b and 33b, it is needless to say that any number other than that shown in the embodiment may be adopted. In the embodiment, the slots 3b and 33b, the permanent magnets 4a and 34a, and the cores 5b and 35b are arranged at equal intervals, but may be arranged at unequal intervals. Furthermore, in the embodiment, there are four armature magnetic poles, eight magnet magnetic poles, and six cores 5a and 35b, but the ratio of these numbers is 1: m: (1 + m) / 2 (m ≠ 1. Any number can be adopted as the number of armature magnetic poles, magnet magnetic poles, and cores 5a and 35b as long as 0) is satisfied. In the embodiment, the first rotational position sensor 21, the second rotational position sensor 22, and the position sensor 41 are electromagnetic induction types, but may be optical types. Furthermore, in the embodiment, the ECU 16 is used as the control means in the present invention, but a combination of a microcomputer and an electric circuit may be used. In addition, it is possible to appropriately change the detailed configuration within the scope of the gist of the present invention.

1 is a cross-sectional view schematically showing an electric motor according to a first embodiment of the present invention. It is a block diagram which shows the electric motor and ECU of FIG. It is a figure which expand | deploys the stator of the electric motor of FIG. 1, and the 1st and 2nd rotor in the circumferential direction, and is shown schematically. FIG. 3 is a collinear diagram illustrating an example of a relationship between a magnetic field electrical angular velocity and first and second rotor electrical angular velocities in the electric motor of FIG. 1. It is a figure for demonstrating operation | movement at the time of supplying electric power to a stator in the state which fixed the 1st rotor of the electric motor of FIG. FIG. 6 is a diagram for explaining an operation subsequent to FIG. 5. FIG. 7 is a diagram for explaining an operation subsequent to FIG. 6. It is a figure for demonstrating the positional relationship of an armature magnetic pole and a core when an armature magnetic pole rotates only 2 electrical angle from the state shown in FIG. It is a figure for demonstrating operation | movement at the time of supplying electric power to a stator in the state which fixed the 2nd rotor of the electric motor of FIG. FIG. 10 is a diagram for explaining an operation subsequent to FIG. 9. It is a figure for demonstrating the operation | movement following FIG. It is a figure which shows an example of transition of the back electromotive force of a U phase-W phase at the time of fixing the 1st rotor of the electric motor of this invention. It is a figure which shows an example of transition of the driving equivalent torque and the 1st and 2nd rotor transmission torque when the 1st rotor of the electric motor of this invention is fixed. It is a figure which shows an example of transition of the back electromotive force voltage of the U phase-W phase at the time of fixing the 2nd rotor of the electric motor of this invention. It is a figure which shows an example of transition of the driving equivalent torque and the 1st and 2nd rotor transmission torque at the time of fixing the 2nd rotor of the electric motor of this invention. It is a front view which shows roughly the electric motor etc. by 2nd Embodiment of this invention. FIG. 17 is a plan view schematically showing a part of the electric motor of FIG. 16. It is a figure for demonstrating the relationship of the number of armature magnetic poles, cores, and magnet magnetic poles in the electric motor of FIG. It is a figure which shows the equivalent circuit of the electric motor of this invention.

Explanation of symbols

1 Electric motor 3 Stator (second structure)
3a Iron core (armature)
3c U-phase coil (armature)
3d V-phase coil (armature)
3e W phase coil (armature)
4 1st rotor (1st structure)
4a Permanent magnet (magnetic pole)
5 Second rotor (third structure)
5a Core (soft magnetic material)
6 First rotating shaft (first structure)
7 Second axis of rotation (third structure)
16 ECU (control means)
16b Electrical angle converter (relative positional relationship detection means)
21 1st rotation position sensor (relative positional relationship detection means)
22 Second rotational position sensor (relative positional relationship detection means)
31 Electric motor 33 First stator (second structure)
33a Iron core (armature)
33c U-phase coil (armature)
33d V-phase coil (armature)
33e W phase coil (armature)
34 Second stator (first structure)
34a Permanent magnet (magnetic pole)
35 Mover (third structure)
35b Core (soft magnetic material)
41 Position sensor (relative positional relationship detection means)
θER1 First rotor electrical angle (electrical angle position of first structure)
θER2 Second rotor electrical angle (electrical angular position of the third structure)

Claims (6)

A first structure having a magnetic pole array composed of a plurality of predetermined magnetic poles arranged in a predetermined direction, and arranged so that each of the two adjacent magnetic poles have different polarities from each other;
With a plurality of armatures arranged in the predetermined direction, arranged to face the magnetic pole row, and with a plurality of predetermined armature magnetic poles generated in the plurality of armatures as power is supplied, A second structure having an armature array that generates a moving magnetic field that moves in the predetermined direction with the magnetic pole array;
A third structure including a plurality of predetermined soft magnetic bodies arranged in the predetermined direction and spaced apart from each other, and having a soft magnetic array arranged to be positioned between the magnetic pole array and the armature array And comprising
A ratio of the number of the armature magnetic poles, the number of the magnetic poles, and the number of the soft magnetic bodies in a predetermined section along the predetermined direction is set to 1: m: (1 + m) / 2 (m ≠ 1.0). An electric motor characterized by being made. A relative positional relationship detecting means for detecting a relative positional relationship between the first to third structures;
Control means for controlling the moving magnetic field based on the relative positional relationship of the detected first to third structures;
The electric motor according to claim 1, further comprising: The relative positional relationship detection means detects the electrical angular position of the first structure and the third structure with respect to the second structure as the relative positional relationship of the first to third structures,
The control means is based on a difference between a value obtained by multiplying the detected electrical angle position of the third structure by (1 + m) and a value obtained by multiplying the detected electrical angle position of the first structure by m. The electric motor according to claim 2, wherein the moving magnetic field is controlled.   The electric motor according to claim 1, wherein the magnetic pole is a magnetic pole of a permanent magnet.   The electric motor according to claim 1, wherein the electric motor is a rotating machine.   The electric motor according to claim 1, wherein the electric motor is a linear motor.

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